This paper summarizes the work of building the autonomous system including detection system and path tracking controller for a formula student autonomous racecar. A LIDAR-vision cooperating method of detecting traffic cone which is used as track mark is proposed. Detection algorithm of the racecar also implements a precise and high rate localization method which combines the GPS-INS data and LIDAR odometry. Besides, a track map including the location and color information of the cones is built simultaneously. Finally, the system and vehicle performance on a closed loop track is tested. This paper also briefly introduces the Formula Student Autonomous Competition (FSAC) in 2017.


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    Title :

    Autonomous Driving System Design for Formula Student Driverless Racecar


    Contributors:
    TIAN, hanqing (author) / NI, Jun (author) / HU, Jibin (author)


    Publication date :

    2018-06-01


    Size :

    1292970 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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